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Sensors • Vol 23 • No 10
Robust Scan Registration for Navigation in Forest Environment Using Low-Resolution LiDAR Sensors
2023
Automated forest machines are becoming important due to human operators’ complex and dangerous working conditions, leading to a labor shortage. This study proposes a new method for robust SLAM and tree mapping using low-resolution LiDAR sensors in forestry co…
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Mathematics

Area of knowledge

Mathematics is an area of knowledge that includes the topics of numbers, formulas and related structures, shapes and the spaces in which they are contained, and quantities and their changes. These topics are represented in modern mathematics with the major subdisciplines of number theory, algebra, geometry, and analysis, respectively. There is no general consensus among mathematicians about a common definition for their academic discipline.

Most mathematical activity involves the discovery of properties of abstract objects and the use of pure reason to prove them. These objects consist of either abstractions from nature or—in modern mathematics—entities that are stipulated to have certain properties, called axioms.

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Sensors • Vol 23 • No 10
Robust Scan Registration for Navigation in Forest Environment Using Low-Resolution LiDAR Sensors
2023
Automated forest machines are becoming important due to human operators’ complex and dangerous working conditions, leading to a labor shortage. This study proposes a new method for robust SLAM and tree mapping using low-resolution LiDAR sensors in forestry conditions. Our method relies on tree detection to perform scan registration and pose correction using only low-resolution LiDAR sensors (16Ch, 32Ch) or narrow field of view Solid State LiDARs without additional sensory modalities like GPS or IMU. We evaluate ou…
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